4 year old wakes up and expects me to sleep next to her every night

[NLima]

My daughter is 4 and has always been a difficult sleeper. She has always needed touch to fall asleep and get back to sleep in the night.
I am always so tired that I just lay on the floor holding her hand until she goes back to sleep, which can take hours! If I try to leave the bedroom she wakes up and starts crying and screaming. She shares the bedroom with her younger brother (2.5), and everytime she calls me I just run like a rocket so she doesn't start crying and wake him up. I sometimes take her to my bed, but there's not much space and we both end up sleeping terribly. So I started putting some pillows and blankets by her bed so I can try to sleep a bit. But I am tired, I spend my nights between 2 beds. I just don't know what to do anymore. I tell her she's safe, I am just next door, but she needs my presence to calm down and get back to sleep.
I just wish there was a way for me to go to her bedroom, stay a few minutes and leave without her crying her eyes out!
Anyone in a similar place? Any ideas on how to get over this? It's been over 4 years!! I might just set a bed in her bedroom to sleep near her! Thank you so much for listening.

I always put mine into double beds so it was easier. Handy for illnesses and whatnot. Some people like a body to snuggle up to. We make such a fuss of sharing a bed with our partner but expect our young to sleep alone.

I'd be getting husband in her bed and sharing with her in the big bed. They're not little long, this bit always ends.

Similar problem here. DS and I sleep in a double and DH sleeps in the single bed that will eventually be for DS! DS is nearly 4 and we do what gets us all the most sleep. When we co sleep he sleeps 11 hours a night and in his own room even after sleep training (we tried everything) he will wake every 3-4 hours and I was exhausted and couldn’t do my job. I’m sure it will pass eventually.